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86

Manual – MOVI-PLC® advanced DHF41B DeviceNet and PROFIBUS DP-V1 Fieldbus Interfaces

11

Structure of the DP-V1 parameter channel

Functions of PROFIBUS DP-V1

11.3.5 PROFIdrive parameter orders

The PROFIdrive parameter channel of SEW inverters is directly mapped in the structure
of data set 47. Parameter access with PROFIdrive services usually takes place
according to the structure described below. The typical telegram sequence is used for
data set 47. PROFIdrive only defines the two request IDs

Request ID:0x01request parameter (PROFIdrive)
Request ID:0x02change parameter (PROFIdrive)

This means there is restricted data access in comparison with the MOVILINK

®

 services. 

Example for 
reading a 
parameter via 
PROFIdrive

The following tables show an example of the structure of the WRITE.request and
READ.res user data for reading an individual parameter via the MOVILINK

®

 parameter

channel.

Sending a parameter request

The following table shows the coding of the user data for the WRITE.req service
specifying the DP-V1 header. The WRITE.req service is used to transfer the parameter
setting request to the inverter.

TIP

The request ID = 0x02 = change parameter (PROFIdrive) results in remanent write
access to the selected parameter. Consequently, the internal flash/EEPROM of the
inverter is written with each write access. Use the MOVILINK

®

 service "WRITE

Parameter volatile" if parameters must be written cyclically at short intervals. With this
service, you only alter the parameter values in the RAM of the inverter.

Service:

WRITE.request

Description

Slot_Number

0

Random, (is not evaluated)

Index

47

Index of the data set; constant index 47

Length

10

10 byte user data for parameter request

Service:

WRITE.request

Description

Slot_Number

0

Random, (is not evaluated)

Index

47

Index of the data set; constant index 47

Length

10

10 byte user data for parameter request

Byte

Field

Value

Description

0

Request reference

0x01

Individual reference number for the parameter set-
ting request is mirrored in the parameter response

1

Request ID

0x01

Request parameter (PROFIdrive)

2

Axis

0x01

Axis number; 1 = SBus address 1

3

No. of parameters

0x01

1 parameter

4

Attribute

0x10

Access to parameter value

5

No. of elements

0x00

0 = access to direct value, no subelement 

6, 7

Parameter Number

0x206C

MOVILINK

®

 index 8300 = "Firmware version"

8, 9

Subindex

0x0000

Subindex 0

0

0

I

Summary of Contents for DHF41B

Page 1: ...Drive Technology Drive Automation System Integration Services MOVI PLC advanced DHF41B Controller DeviceNet and PROFIBUS DP V1 Fieldbus Interfaces Manual Edition 03 2009 16658426 EN ...

Page 2: ...SEW EURODRIVE Driving the world ...

Page 3: ...s LED of the DHF41B option 14 5 Project Planning and Startup on the DeviceNet Fieldbus 16 5 1 Validity of EDS files for the DHF41B option 16 5 2 Configuring PLC and master DeviceNet scanner 17 5 3 Settings in MOVI PLC advanced DHF41B 19 5 3 1 Process data configuration 19 5 3 2 Status of the fieldbus interface 20 5 4 Project planning examples in RSLogix5000 21 5 4 1 MOVI PLC advanced DHF41B with 1...

Page 4: ...d inverters 81 11 3 4 MOVILINK parameter requests 82 11 3 5 PROFIdrive parameter orders 86 11 4 Configuring a C1 master 91 11 4 1 Operating mode DP V1 mode 91 11 4 2 Example program for SIMATIC S7 92 11 4 3 Technical data of DP V1 for MOVI PLC advanced DHF41B 93 11 4 4 Error codes of the DP V1 services 94 12 Operating MOVITOOLS MotionStudio 95 12 1 About MOVITOOLS MotionStudio 95 12 1 1 Tasks 95 1...

Page 5: ...ion parameters for PROFIBUS DP DP V1 114 12 7 Executing functions with the units 115 12 7 1 Parameterizing units in the parameter tree 115 12 7 2 Reading changing unit parameters 115 12 7 3 Starting up the units online 116 13 Error Diagnostics for Operation on PROFIBUS DP V1 117 13 1 Diagnostic procedure for PROFIBUS DP 117 14 Appendix 118 14 1 Parameter access to lower level units via DeviceNet 1...

Page 6: ...he safety notes The safety notes in this documentation are structured as follows Pictogram SIGNAL WORD Type and source of danger Possible consequence s if disregarded Measure s to prevent the danger Pictogram Signal word Meaning Consequences if disregarded Example General danger Specific danger e g electric shock DANGER Imminent danger Severe or fatal injuries WARNING Possible dangerous situation ...

Page 7: ... as to persons who work independently on the unit You must also ensure that the documentation is legible 1 4 Exclusion of liability You must observe this documentation and the documentation of the connected units from SEW EURODRIVE to ensure safe operation and to achieve the specified product characteristics and performance requirements SEW EURODRIVE assumes no liability for injury to persons or d...

Page 8: ... give rise to changes in the unit behavior This may result in unexpected though not uncontrolled system behavior 2 3 Safety functions The MOVIDRIVE MDX60B 61B and MOVITRAC B inverters may not perform safety functions without higher level safety systems Use higher level safety systems to ensure protection of equipment and personnel For safety applications ensure that the information in the followin...

Page 9: ... exchange MOVI PLC advanced DHF41B offers digital access to a special data range via the DeviceNet and PROFIBUS interfaces This data range is evaluated by IEC 61131 3 as process input and output data to a higher level controller The meaning of the transferred data depends on the IEC program 3 2 2 Parameter access This parameter data exchange enables you to implement applications for which all impo...

Page 10: ...cifically to your application in the IEC program You can determine for instance which fault responses should be triggered in the event of a bus error For many applications a rapid stop function is useful However you can also freeze the last setpoints so that the drive continues to operate with the most recently valid setpoints As the range of functions for the control terminals is also available i...

Page 11: ...18 LED 17 LED 16 LED 15 LED 14 LED 13 LED 12 LED 11 Mod Net Polled I O Bit strobe I O BUS FAULT LEDs 17 and 18 are reserved for PROFIBUS LED 18 is lit orange DHF41B option is being initialized The two color LEDs 13 LED 16 indicate the current status of the fieldbus interface and the DeviceNet system see chapter Status LED of the DHF41B option Reserved Reserved Connector X30D DeviceNet plug in term...

Page 12: ...the bus cable on both ends over a large area Route signal and bus cables in separate cable ducts Do not route them parallel to power cables motor leads Use metallic grounded cable racks in industrial environments Route the signal cable and the corresponding equipotential bonding close to each other using the shortest possible route Avoid using plug connectors to extend bus cables Route the bus cab...

Page 13: ...63 Setting the baud rate The baud rate is set using DIP switches 26 and 27 A maximum of 64 DeviceNet data words can be exchanged between the DeviceNet module and the DHF41B option The number is set from the IEC program either using the MC_DeviceNetPDConfig function block or the DeviceNet scanner TIP Before each change to the DIP switches disconnect MOVI PLC advanced DHF41B from the voltage supply ...

Page 14: ...master Missing incorrect or incomplete configuration Lights up green Online operational mode and connected Online Connection to a master has been established Connection is active established state Flashing red 1 s cycle Minor fault or connection timeout A correctable fault has occurred Polled I O and or bit strobe I O connections are in timeout status DUP MAC check has detected an error Red light ...

Page 15: ...le Minor fault or connection timeout Invalid number of process data is set via DIP switches A correctable fault has occurred Bit strobe I O connection is in timeout state Red light Critical fault or critical link failure A fault that cannot be remedied has occurred BusOff DUP MAC check has detected an error Status of the L13 LED Status Meaning Off NO ERROR The number of bus errors is in the normal...

Page 16: ... following files using the RSNetWorx software to establish the DeviceNet network with the DHF41B option Proceed as follows Select Tools EDS Wizard from the menu in RSNetWorx You will be prompted to enter the names of the EDS and icon files The files will be installed For more details on how to install the EDS file refer to the Allen Bradley documentation for RSNetWorx After installation the device...

Page 17: ...iceNet After adding the DeviceNet Scanner to the I O configuration the file dnt containing the DeviceNet configuration is selected To view and edit the DeviceNet configuration you can launch RSNetWorx from this dialog see following figure In RSNetWorx for DeviceNet see following figure either perform an online scan or add the required devices to the graph by drag and drop The address given under t...

Page 18: ...e DHF41 option by reading the device properties in online mode see following figure The Pd configuration parameter indicates the number 1 64 of process data words PD that was set via RSNetWorx or in the IEC program of the MOVI PLC using the MC_DeviceNetPDConfig function block see the chapter Settings in the MOVI PLC advanced DHF41B and determines the I O parameters for the DeviceNet scanner see fo...

Page 19: ...s array manually the DeviceNet Tag Generator tool automatically generates copy commands and two controller tags input output as byte arrays for each DeviceNet device The tag name contains the MAC ID of the DeviceNet unit and POL_I for polled input data or POL_O for polled output data see following figure 5 3 Settings in MOVI PLC advanced DHF41B For a detailed description on how to create IEC progr...

Page 20: ...s data words are used Parameterization using the MC_DeviceNetPDConfig function block in the IEC program offers the advantage that the process data configuration is stored on the memory card of the MOVI PLC advanced DHF41B option together with the associated program 5 3 2 Status of the fieldbus interface The FbusGetInfo function block or ProfibusDeviceNetGetInfo makes the status and some display pa...

Page 21: ...in the chapter Configuring the PLC and master DeviceNet scanner 3 Set the number of process data words of MOVI PLC advanced DHF41B to 16 4 You can now start integration into the RSLogix project To do so create a controller tag with a user defined data type to create a simple data consistent interface to the inverter s process data see following figure The description for process input and output d...

Page 22: ...this CPS command is executed after the automatically by DeviceNet Tag Generator generated DNet_ScannerInputsRoutine In order to copy the data to the MOVI PLC advanced DHF41B a CPS command is added to the MainRoutine that writes the data to the local I O These CPS commands are executed before the automatically generated by DeviceNet Tag Generator DNet_Scanner_OutputsRoutine 11963AXX 11964AXX 0 0 I ...

Page 23: ... 1 to activate data exchange via DeviceNet The MOVI PLC advanced DHF41B can now read the actual values and write setpoints The process data should correspond to the values displayed in the PLC Editor or in the diagnostics plug in of the active IEC program in MOVITOOLS MotionStudio If there is no IEC program in MOVI PLC you can create one as follows Open the context menu of the PLC in MOVITOOLS Mot...

Page 24: ...ng and Startup on the DeviceNet Fieldbus Use the wizard to create a new AxisControl project and upload it to MOVI PLC advanced DHF41B using the menu item Online login Start the loaded program via the menu item Online start You can now monitor the uploaded process data under Resources Control configuration See following figure 12114ADE 0 0 I ...

Page 25: ...cess to the parameters of MOVI PLC advanced DHF41B via explicit messages and the register object proceed as follows 1 Create a user defined data structure SEW_Parameter_Channel see following figure 2 Define the following controller tags see following figure 3 Create a rung for the ReadParameter execution following figure For contact select the tag ReadParameterStart For the Message Control select ...

Page 26: ...c as message type Fill the other fields in the following order A Source Element ReadParameterRequest Index B Source Length 12 C Destination ReadParameterResponse Index D Class 7hex E Instance 1 F Attribute 4hex G Service Code ehex The service type is set automatically 5 The target device is to be specified on the Communication tab see following figure The path edit box comprises the following entr...

Page 27: ...tart to 1 the read request is executed once see following figure On response to the read request ReadParameterResponse Index should indicate the read index and ReadParameterResponse Data should contain the read data In this example the timeout delay of MOVI PLC advanced DHF41B index 8606 set by the scanner has been read 012Chex 0 3 s You can check the value in the MOVITOOLS MotionStudio parameter ...

Page 28: ...re Create a rung for executing the WriteParameter command see following figure For contact select the tag WriteParameterStart For message control select the tag WriteParameter Click on in the MSG instruction to open the Message Configuration window see following figure Fill the other fields in the following sequence Source Element WriteParameterRequest Index Source Length 12 Destination WriteParam...

Page 29: ...riteParameter Request Data By altering WriteParameterStart to 1 the write request is executed once see following figure On response to the write request WriteParameterResponse Index should give the written index and WriteParameterResponse Data should contain the written data In this example 22hex 33 dec was written to index 11001 H1 You can check the value in the MOVITOOLS MotionStudio parameter t...

Page 30: ...h the unit parameter access to MOVI PLC advanced DHF41B itself see chapter 5 4 3 The only difference is that for example Read WriteParameterRequest SubChannel1 must be set to 3 and Read WriteParameterRequest SubAddress1 must be set to the SBus address of the MOVITRAC B unit connected to DHF41B option see figure below In this example MOVITRAC B connected to the DHF41B option with SBus address 7 rea...

Page 31: ...ed in the device as timeout interval in index 8606 in the bus diagnostics in the parameter tree This timeout interval is retained in the device when the polled I O connection is discon nected and the device switches to timeout status after the timeout interval has elapsed The timeout interval must not be altered using the PLC Editor or the IEC program because it can only be activated via the bus I...

Page 32: ...rocess input data Flashing red NOTICE The LED L14 BIO on the front of the UFF41B option can be used for distinguishing between the timeout triggered by the bit strobe telegram and a real timeout in the connection The LED L14 BIO lights up green when bit strobe messages are received cyclically LED L14 BIO flashing red means there is a timeout in the bit strobe connection and no more bit strobe tele...

Page 33: ...ng the following formula tTimeout_BitStrobe_IO 4 x tExpected_Packet_Rate_BitStrobe_IO It can be set using connection object class 5 instance 3 attribute 9 The range of values runs from 0 ms to 65535 ms in 5 ms steps If a timeout occurs for the bit strobe I O messages this connection type enters timeout status Incoming bit strobe I O messages are no longer accepted The timeout is not passed to the ...

Page 34: ...device Class code 01hex Class None of the class attributes are supported Instance 1 Class hex Name 01 Identity object 03 DeviceNet Object 05 Connection Object 07 Register Object 0F Parameter Object Attri bute Access Name Data type Default value hex Description 1 Get Vendor ID UINT 013B SEW EURODRIVE GmbH Co KG 2 Get Device Type UINT 0064 Manufacturer specific type 3 Get Product Code UINT 000D Prod...

Page 35: ...ed 4 7 Extended Device Status Table Coding of the extended device status 8 Minor Recoverable Fault Minor fault that can be remedied 9 Minor Unrecoverable Fault Minor fault that cannot be remedied 10 Major Recoverable Fault Major fault that cannot be remedied 11 Major Unrecoverable Fault Major fault that cannot be remedied 12 15 Reserved Value binary Description 0000 Unknown 0010 At least one fault...

Page 36: ...Description 1 Get MAC ID Depending on DIP switch 0 63 2 Get Baud rate Depending on DIP switch 0 2 3 Get BOI 4 Get Set Bus off counter Error counter of the physical CAN interface 0 255 5 Get Allocation information 6 Get MAC ID switch changed Information as to whether DIP switch settings vary from MAC ID 7 Get Baud rate switch changed Information as to whether DIP switch settings vary from baud rate...

Page 37: ...ed I O 3 Bit Strobe I O Attribute Access Name 1 Get State 2 Get Instance type 3 Get Transport Class trigger 4 Get Produce connection ID 5 Get Consume connection ID 6 Get Initial com characteristics 7 Get Produced connection size 8 Get Consumed connection size 9 Get Set Expected packet rate 12 Get Watchdog time out action 13 Get Produced connection path len 14 Get Produced connection path 15 Get Co...

Page 38: ...bute_Single services are used for access As the register object is designed so that INPUT objects can only be read and OUTPUT objects can be read and written the options listed in the following table are available for addressing the parameter channel Instance INPUT OUTPUT Resulting MOVILINK service with Get_Attribute_Single Set_Attribute_Single 1 INPUT READ parameter Invalid 2 OUTPUT READ WRITE pa...

Page 39: ...M READ DEFAULT READ SCALING READ ATTRIBUTE WRITE WRITE VOLATILE Get_Attribute_Single Get_Attribute_Single Set_Attribute_Single Set_Attribute_Single Get_Attribute_Single Get_Attribute_Single Get_Attribute_Single Get_Attribute_Single Get_Attribute_Single Input Instance 1 Input Instance 4 Input Instance 5 Input Instance 6 Input Instance 7 Input Instance 8 Get_Attribute_Single Input Instance 9 Output ...

Page 40: ...the direction of the instance Attribute 3 indicates the data length in bits Attribute 4 represents the parameter data When accessing attribute 4 the SEW parameter channel must be attached to the service telegram The SEW parameter channel consists of the elements listed in the following table Name Data type Description Index UINT SEW unit index Data UDINT Data 32 bit Subindex BYTE SEW unit subindex...

Page 41: ...e Data type Default value hex Description 2 Get Max Instance UINT 0085 Maximum instance 133 8 Get Parameter Class Descriptor UINT 0009 Bit 0 Supports parameter instances Bit 3 Parameters are saved permanently 9 Get Configura tion Assem bly Interface UINT 0000 Configuration assembly is not supported Attribute Access Name Data type Default value hex Description 1 Set Get Parameter UINT Parameter to ...

Page 42: ...ime Timeout interval 3 Get Fieldbus type DeviceNet 4 Get Baud rate Baud rate via DIP switches 5 Get Station address MAC ID via DIP switches 6 69 Get PO monitor PO1 setpoint PO64 setpoint Monitor of the process output data words 70 133 Get PI monitor PI1 actual value PI64 actual value Monitor of the process input data words TIP The data format for these instances deviates from the SEW fieldbus prof...

Page 43: ...s not maintained during the transfer or if a service is performed which has not been implemented The coding of these return codes is described in the DeviceNet specification see section General Error Codes Timeout of explicit messages The timeout is triggered by the DHF41B option The timeout interval must be set by the master after the connection has been established The DeviceNet specification re...

Page 44: ...to perform the required service 11 Reply data too large The length of the transmitted data is longer than the size of the receive buffer 12 Reserved for DeviceNet 13 Not enough data The length of the transferred data is too short for the service to be performed 14 Attribute not supported The selected attribute is not supported 15 Too much data The length of the transferred data is too long for the...

Page 45: ...or 0x05 0x00 0xF1 Illegal Service 0x01 0xF2 No Response 0x02 0xF3 Different Address 0x03 0xF4 Different Type 0x04 0xF5 Different Index 0x05 0xF6 Different Service 0x06 0xF7 Different Channel 0x07 0xF8 Different Block 0x08 0xF9 No Scope Data 0x09 0xFA Illegal Length 0x0A 0xFB Illegal Address 0x0B 0xFC Illegal Pointer 0x0C 0xFD Not enough memory 0x0D 0xFE System Error 0x0E 0xD1 0xF0 Communication do...

Page 46: ...des in error class 0x08 Description 0x1F 0x00 No Error 0x10 Illegal Index 0x11 Not yet implemented 0x12 Read only 0x13 Parameter Blocking 0x14 Setup runs 0x15 Value too large 0x16 Value too small 0x17 Required Hardware does not exist 0x18 Internal Error 0x19 Access only via RS485 via X13 0x1A Access only via RS485 via XT 0x1B Parameter protected 0x1C Controller inhibit required 0x1D Value invalid ...

Page 47: ... ID test Explicit message body Includes the class no instance no attribute no and the data Explicit message Parameter data message assists in addressing the DeviceNet objects Get_Attribute_Single Read service for a parameter Instance Instance of an object class Divides the object classes into additional subgroups MAC ID Media Access Control Identifier node address of the device M File Provides the...

Page 48: ...causes An X indicates that the state of the respective LED is not relevant LED DHF41B L16 MOD NET L15 PIO L14 BIO L13 BUS FAULT Status Cause Off Off Off Off Off No voltage supply of DHF41B e g via X26 DIP switch S2 is not set to the DeviceNet fieldbus interface see chapter 4 Off Yellow Off Off Booting During boot up and internal synchronization with MOVI PLC Off Flashing red X Off Baud rate invali...

Page 49: ...et in the Local I O tag of the DeviceNet scanner Check the tags and scanner mapping D Is the PLC in RUN mode or does active forcing overwrite the transfer of the normal process data words E If the PLC does not transmit data to DHF41B refer to the documentation of the PLC manufacturer for support F Are the process data words being used correctly in the IEC program G Was the communication interface ...

Page 50: ...30P PROFIBUS Sub D9 X30P 9 X30P 8 X30P 7 X30P 6 X30P 5 X30P 4 X30P 3 X30P 2 X30P 1 GND M5V RxD TxD N N C VP P5V 100 mA GND M5V CNTR P RxD TxD P N C N C Reference potential for PROFIBUS Signal receive transmit negative Terminal unassigned DC 5 V potential for bus terminator Reference potential for PROFIBUS PROFIBUS control signal for repeater Signal receive transmit positive Terminal unassigned Ter...

Page 51: ...MOVI PLC advanced DHF41B with baud rates 1 5 MBaud can only be operated with special 12 MBaud PROFIBUS connectors Bus termination If MOVI PLC advanced DHF41B is located at the start or end of a PROFIBUS segment and if there is only one PROFIBUS cable connected to MOVI PLC advanced DHF41B you must use a connector with an integrated bus terminating resistor Switch on the bus terminating resistors fo...

Page 52: ...ed PROFIBUS DP master not in operation Check the PROFIBUS connection on the unit Check project planning of the PROFIBUS DP master Check all the cables in the PROFIBUS network Flashing red 1 Hz MOVI PLC advanced DHF41B recognizes the baud rate However the DP Master does not address the MOVI PLC advanced DHF41B control card MOVI PLC advanced DHF41B was either not configured in the DP master or was c...

Page 53: ...Once the file has been installed properly the device appears next to the slave stations with the designation MOVI PLC 2 For configuration add the MOVI PLC advanced DHF41B control card under the name MOVI PLC to the PROFIBUS structure and assign the PROFIBUS station address 3 Select the process data configuration required for your application see section DP Configurations 4 Enter the I O or periphe...

Page 54: ...he menu click on Extras Install new GSD and select the new GSD file with the name SEW_6007 GSD The software installs the GSD file and the associated bitmap files in the STEP7 system The SEW drive is available under the following path in the hardware catalog PROFIBUS DP Additional PERIPHERAL UNITS Drives SEW DPV1 MOVI PLC The installation of the new GSD file is now complete Configuration with STEP7...

Page 55: ...e configuration 3PD To change the PD configuration you have to delete the 3 PD module in slot 3 Next add another PD module e g the maximum configuration 64 PD from the MOVI PLC folder at slot 3 using the drag drop function see following figure Slots 4 to 18 can be configured in the same way In the following figure the maximum configuration 64 PD is distributed among 4 slots mapping 64 data words i...

Page 56: ...P master Configuration and Startup on the PROFIBUS DP V1 Fieldbus 3 Optionally you can configure a MOVILINK parameter channel in the cyclic process data see following figure To do so delete the Empty module from slot 2 and replace it with the module Param 4 words using the drag and drop function 12055AXX 0 0 I ...

Page 57: ...onfiguration telegram comprises the DP configurations for slots 1 to 18 You can Control the MOVI PLC advanced DHF41B control card using process data Read or write parameters using the parameter channel The following tables contain additional information on possible DP configurations The Parameter data Process data configuration column displays the name of the configuration These names also appear ...

Page 58: ...nge via 4 process data words 0xC0 0xC3 0xC3 5 PD Process data exchange via 5 process data words 0xC0 0xC4 0xC4 6 PD Process data exchange via 6 process data words 0xC0 0xC5 0xC5 7 PD Process data exchange via 7 process data words 0xC0 0xC6 0xC6 8 PD Process data exchange via 8 process data words 0xC0 0xC7 0xC7 9 PD Process data exchange via 9 process data words 0xC0 0xC8 0xC8 10 PD Process data ex...

Page 59: ...ues or complete positioning tasks The reason that data integrity is so important is that data which is not transmitted integrally could come from different program cycles of the higher level controller which would lead to undefined values being transmitted to MOVI PLC advanced DHF41B controller For PROFIBUS DP data communication between the higher level control and the MOVI PLC advanced DHF41B con...

Page 60: ...r peripheral area of MOVI PLC advanced DHF41B for example when a higher level PLC is used as the DP master As a result the process data words can be addressed in the usual manner 64008AXX Figure 2 Mapping PROFIBUS data in the PLC address range PW160 PW160 PA 3 PE 3 PA 2 PE 2 PA 1 PE 1 PW158 PW158 PW156 PW156 PW154 PW154 PW152 PW152 PW150 PW150 PW148 PW148 PA 1 PE 1 PE 2 PA 2 PE 3 PA 3 PE 64 PA 64 ...

Page 61: ...rameter The length information must correspond to the configured length Refer to the online help for STEP7 for further information about the system functions Start of cyclical program processing in OB1 BEGIN NETWORK TITLE Copy PI data from the DHF41B control card to DB3 words 0 18 CALL SFC 14 DPRD_DAT Read DP slave record LADDR W 16 240 Input address 512 RET_VAL MW 30 Result in flag word 30 RECORD...

Page 62: ...ard elapses if configured in the DP master if data transmission via the PROFIBUS DP system is interrupted or disrupted The Fault PROFIBUS LED lights up to indicate that no new user data is being received The cyclically executable ProfibusGetInfo function blockin the MPLCInterface_Profibus library indicates this PROFIBUS timeout The fault response can be programmed explicitly The application flow c...

Page 63: ...out and Bus type show the respective parameters as they were set via the DIP switches of the DHF41B option or via the PLC Checking the process data communication The MOVI PLC advanced DHF41B can now read the actual values and write setpoints The process data should correspond to the values displayed in the PLC Editor or in the diagnostics plug in of the active IEC program in MOVITOOLS MotionStudio...

Page 64: ...aces 10 Settings in MOVI PLC advanced DFHF41B PROFIBUS DP V1 Operating Characteristics Start the loaded program via the menu item Online start You can now monitor the uploaded process data under Resources Control configuration PLC configuration See following figure 12050AXX 0 0 I ...

Page 65: ...OVILINK parameter channel PROFIBUS DP enables access to the MOVI PLC advanced DHF41B control card parameters via the parameter process data object PPO This PPO is transmitted cyclically and in addition to the process data channel 2 contains a parameter channel 1 which can be used to exchange acyclical parameter values see following figure 61495AXX Figure 3 Communication via PROFIBUS DP 1 2 2 1 DHF...

Page 66: ...mplementation of the transmitted service in the control card With PROFIBUS DP the parameter channel is transmitted cyclically with the process data For this reason the execution of the service in MOVI PLC advanced DHF41B must be triggered by edge control using handshake bit 6 For this purpose the value of this bit is toggled for each new service to be executed The MOVI PLC advanced DHF41B control ...

Page 67: ...e error code is entered in the data range of the parameter telegram Byte 4 7 send back the return code in a structured format see the chapter Return codes for parameterization Reading a parameter with PROFIBUS DP Read Due to the cyclical transfer of the parameter channel to execute a read service via the 8 byte MOVILINK parameter channel the handshake bit may only be changed if the complete parame...

Page 68: ...rvice via the 8 byte MOVILINK parameter channel the handshake bit may only be changed if the complete parameter channel has been set up for the specific service Observe the following sequence when writing a parameter 1 Enter the index of the parameter to be written in byte 2 index high and byte 3 index low 2 Enter the data to be written in bytes 4 through 7 3 Enter the service identifier and the d...

Page 69: ...ed in this example when it changes from 0 to 1 The MOVI PLC advanced DHF41B control card now interrupts the parameter channel and processes the write service However it continues to respond to all telegrams with handshake bit 0 The executed service is acknowledged with a change of the handshake bit in the response message of MOVI PLC advancedDHF41B The higher level controller now detects that the ...

Page 70: ...ed in this documentation However the following special cases can occur in connection with PROFIBUS Error class The error class element provides a more exact classification of the error type The MOVI PLC advanced DHF41B control card supports the following error classes in accordance with EN 50170 V2 Error code The error code element provides a means of identifying the cause of the error within the ...

Page 71: ...C advanced DHF41B control card are treated as special cases The following errors can occur depending on the control card used Incorrect coding of a service via parameter channel Incorrect length specification of a service via parameter channel Internal communication error Add code high hex Add code low hex Meaning 00 00 No error 00 10 Illegal parameter index 00 11 Function parameter not implemente...

Page 72: ...the parameter channel Both bits must be set to 1 Internal communication error The return code listed in the following table is sent back if an internal communication error has occurred The parameter service transferred via the fieldbus may not have been performed and should be repeated If this error persists switch the MOVI PLC advanced DHF41B control card off and on again In this way the control ...

Page 73: ...inverter than it would be possible to transfer in the cyclical input or output data using the 8 byte parameter channel for example The advantage of the acyclical data exchange via DP V1 lies in the minimum load on the cyclical bus operation since DP V1 telegrams are only added to the bus cycle if required The DP V1 parameter channel provides the user with 2 options The higher level controller can ...

Page 74: ...ing devices Notebook PC The C2 master uses exclusively acyclic connections for communication with the slaves The acyclic connections between C2 master and slave are established by the Initiate service The connection is established once the Initiate service has been performed successfully An established connection enables cyclical data exchange with the slaves using READ or WRITE services Several C...

Page 75: ...nded alarm handling Alarm handling now distinguishes between different alarm types As a result unit specific diagnostics cannot be evaluated in DP V1 operation using the DDLM_SlaveDiag DP V0 service DP V1 alarm handling has not been defined for drive engineering as an inverter does not usually transfer its status information via cyclical process data communication C1 master Connection type MSAC1 m...

Page 76: ...ns via the DP V1 C1 channel Two additional C2 channels can be connected in parallel to these parameter setting channels The first C2 master as a visualization device for example could use these channels to read parameter data and a second C2 master in the form of a notebook could use them to configure the drive using the MOVITOOLS MotionStudio software 61535AXX Figure 4 Parameter setting channels ...

Page 77: ... The Request ID entry is used to distinguish between parameter access based on PROFIdrive profile or via SEW MOVILINK services The following table shows the possible codes of the individual elements The data set structure is the same for PROFIdrive and MOVILINK access The following MOVILINK services are supported 8 byte MOVILINK parameter channel with all the services supported by the SEW device s...

Page 78: ...ve 0x40 SEW MOVILINK service Response 0x81 Request parameter PROFIdrive 0x82 Change parameter PROFIdrive 0xC0 SEW MOVILINK service Axis Unsigned8 0x00 0xFF Number of axes 0 255 No of parameters Unsigned8 0x01 0x13 1 19 DWORDs 240 DP V1 data bytes Attribute Unsigned8 0x10 Value For SEW MOVILINK Request ID 0x40 0x00 No service 0x10 READ parameters 0x20 WRITE parameter 0x30 WRITE Parameter volatile 0...

Page 79: ...rom the slave is negative As soon as the parameter processing in the inverter is concluded it answers with a positive response READ res The user data now contain the parameter setting response of the parameter setting order that was previously sent with WRITE req see the following figure This mechanism applies to both a C1 and a C2 master 53126AXX Figure 5 Telegram sequence for parameter access vi...

Page 80: ...rom the inverter is not yet available In this case the inverter sends a neg ative answer with the Error_Code _1 0xB5 status conflict to the DP V1 level The DP V1 master must then repeat the request with the READ req header until it receives a positive answer from the inverter 53127AEN Send Write request with parameter data Send DS_Read req with parameter data Check Write response Write response ne...

Page 81: ...is 0 enables access to the parameters of MOVI PLC advanced DHF41B To being able to access slave units connected to the DHF41B option the setting must be Axis SBus address SBus address 15 must not be used when engineering via PROFIBUS or parameter services via PROFIBUS 65194AXX C1 Master Acyclic DP V1 C2 Services Acyclic DP V1 C2 Services Axis 0 Axis 0 Axis 0 Cyclic OUT Data Cyclic IN Data PD PD PR...

Page 82: ...option is read with SBus address 1 Sending a parameter request The following table shows the coding of the user data for the WRITE req service specifying the DP V1 header The WRITE req service is used to transfer the parameter setting request to the inverter The firmware version is read Query parameter response The following table shows the coding of the READ req USER DATA including the DP V1 head...

Page 83: ...address 1 is connected to the DHF41B option Send WRITE parameter volatile request Service READ request Description Slot_Number 0 Random is not evaluated Index 47 Index of the data set constant index 47 Length 10 10 byte user data in response buffer Byte Field Value Description 0 Response reference 0x01 Mirrored reference number from the parameter setting request 1 Response ID 0x40 Positive MOVILIN...

Page 84: ...ttribute 0x30 MOVILINK service WRITE parameter volatile 5 No of elements 0x00 0 access to direct value no subelement 6 7 Parameter Number 0x2AF8 Parameter index 11000 IPOS variable H0 8 9 Subindex 0x0000 Subindex 0 10 Format 0x43 Double word 11 No of Values 0x01 Change 1 parameter value 12 13 Value HiWord 0x0000 Higher order part of the parameter value 14 15 Value LoWord 0x0BB8 Lower order part of...

Page 85: ...e g error class 0x08 Add code 0x11 see section MOVILINK configuration return codes for DP V1 on page 85 MOVILINK return code hex Description 0x0810 Invalid index parameter index does not exist in the unit 0x0811 Function parameter not implemented 0x0812 Read access only 0x0813 Parameter lock activated 0x0814 Factory setting is active 0x0815 Value for parameter too large 0x0816 Value for parameter ...

Page 86: ...he parameter setting request to the inverter TIP The request ID 0x02 change parameter PROFIdrive results in remanent write access to the selected parameter Consequently the internal flash EEPROM of the inverter is written with each write access Use the MOVILINK service WRITE Parameter volatile if parameters must be written cyclically at short intervals With this service you only alter the paramete...

Page 87: ... of the data set constant index 47 Length 240 Maximum length of response buffer in the DP V1 master Service READ request Description Slot_Number 0 Random is not evaluated Index 47 Index of the data set constant index 47 Length 10 10 byte user data in response buffer Byte Field Value Description 0 Response reference 0x01 Mirrored reference number from the parameter setting request 1 Response ID 0x0...

Page 88: ...eader Service WRITE request Description Slot_Number 0 Random is not evaluated Index 47 Index of the data set constant index 47 Length 16 16 byte user data for order buffer Byte Field Value Description 0 Request reference 0x01 Individual reference number for the parameter set ting request is mirrored in the parameter response 1 Request ID 0x02 Change parameter PROFIdrive 2 Axis 0x01 Axis number 1 S...

Page 89: ...eter setting request 1 Response ID 0x02 Positive PROFIdrive response 2 Axis 0x01 Mirrored axis number 1 SBus address 1 3 No of parameters 0x01 1 parameter Service READ response Description Slot_Number 0 Random is not evaluated Index 47 Index of the data set constant index 47 Length 8 8 byte user data in response buffer Byte Field Value Description 0 Response reference 0x01 Mirrored reference numbe...

Page 90: ...x0A Reserved PROFIdrive Profile V2 incorrect access group 0x0B No operation priority An attempt was made to change a parameter without change rights 0x0C Reserved PROFIdrive Profile V2 incorrect password 0x0D Reserved PROFIdrive Profile V2 text cannot be read in cyclic data transfer 0x0E Reserved PROFIdrive Profile V2 name cannot be read in cyclic data transfer 0x0F No text assignment available Ac...

Page 91: ...firmware must correspond with one another 11 4 1 Operating mode DP V1 mode The DP V1 operating mode can usually be activated for configuring a C1 master All DP slaves which have the DP V1 functions enabled in their GSD files and which support DP V1 will then be operated in DP V1 mode Standard DP slaves will still run via PROFIBUS DP V0 This ensures mixed mode for DP V1 and DP V0 capable modules De...

Page 92: ...rogram for SIMATIC S7 Calling the function module TIPS The MOVILINK parameter channel sample program is available from the SEW homepage www sew eurodrive de under Software This example is a special and free service that demonstrates only the basic approach to generating a PLC program SEW is not liable for the contents of the sample program 12101AXX 0 0 I ...

Page 93: ...wSubIndex WORD MOVILINK subindex 0 dwWriteData DWORD Parameter data for WRITE service InstanzDB_SFB52 BLOCK_DB Instance DB for the SFB52 InstanzDB_SFB53 BLOCK_DB Instance DB for the SFB53 fActivate BOOL Activation bit fBusy BOOL Parameter service is active fDone BOOL Parameter service was executed bError BYTE No error 0 S7 error 1 TimeOut 2 MOVILINK error 3 dwData DWORD bError 0 Parameter value af...

Page 94: ... reserved 0xA application 0x0 read error 0x1 write error 0x2 module failure 0x3 to 0x7 reserved 0x8 version conflict 0x9 feature not supported 0xA to 0xF user specific 0xB access 0x0 invalid index 0xB0 No data block Index 47 DB47 parameter requests are not supported 0x1 write length error 0x2 invalid slot 0x3 type conflict 0x4 invalid area 0x5 state conflict 0xB5 Access to DB 47 temporarily not po...

Page 95: ...he units communicate via these communication channels using their communication options You can operate up to four communication channels at the same time Depending on the unit and its communication options the following communication channels are available Serial RS485 via interface adapters System bus SBus via interface adapters Ethernet EtherCAT Fieldbus PROFIBUS DP DP V1 S7 MPI 12 1 3 Executin...

Page 96: ...orage location 12 2 2 Establishing communication and scanning the network Proceed as follows to establish a communication with MOVITOOLS MotionStudio and scan your network 1 Set up a communication channel to communicate with your units For detailed information on how to configure a communication channel see the section regarding the relevant communication type 2 Scan your network unit scan To do s...

Page 97: ... communication mode you have selected The following figure illustrates the two types of tools 64335AXX Tools Description Offline tools Changes made using offline tools affect ONLY the RAM 2 Save your project so that the changes can be stored on the hard disk 1 of your PC To transfer the changes also to your unit 3 perform a download Online tools Changes made using online tools affect ONLY the unit...

Page 98: ...click to open the context menu and display the tools for configuring the unit TIP The online communication mode is NOT a response message which informs you that you are currently connected to the unit or that your unit is ready for communication Should you require this feedback observe section Setting the cyclical accessibility test in the online help or the manual of MOVITOOLS MotionStudio TIP Pr...

Page 99: ...ed with the lower level unit 5 via SBus CAN Do the following to connect the UFx41B fieldbus gateway with the PC and the lower level units 1 Insert the A connector of the USB cable 2 into a free USB port on your PC 1 2 Insert the B connector of the USB cable 2 into the USB port on your fieldbus gateway 3 3 Connect the SBus interface of the fieldbus gateway 3 with the SBus interface of the lower lev...

Page 100: ...nit to a free USB port on your PC Your PC will detect the new hardware and launch the hardware wizard 2 Follow the instructions of the hardware wizard 3 Click on Browse and go to the MOVITOOLS MotionStudio installation folder 4 Enter the following path Program Files SEW MotionStudo Driver SEW_USBWIN32_051120 5 Click the Next button to install the driver 12 4 3 Configuring USB communication You nee...

Page 101: ...he Configure communication plugs window 2 From selection field 1 choose the communication type USB direct In the example USB is activated as the communication type for the first communication channel 2 3 Press the Edit button 3 on the right side of the Configure communication plugs window 64743AEN 1 Communication type selection field 2 Activated check box 3 Edit button ...

Page 102: ...munication parameters if necessary When doing so refer to the detailed description of the communication parameters 12 4 4 USB communication parameters The following table describes the communication parameters for the USB communica tion channel 12110AEN Communication parameters Description Note Timeout Waiting time in milliseconds that the master waits for a response from a slave after it has sent...

Page 103: ...erties from the context menu 3 Activate the check box by entering Internet protocol TCP IP 4 Click on the Properties button 5 For the subnetwork mask and standard gateway enter the same IP addresses that are used for other Ethernet stations in this local network 6 For the engineering PC enter an IP address that meets the following conditions In the blocks that define the network the address sectio...

Page 104: ...ation plugs window From the list 1 select Ethernet as the communication type In the example Ethernet is activated as the communication type for the first communication channel 2 3 Press the Edit button 3 in the right section of the window This displays the settings for the Ethernet communication type 4 Set up the SMLP protocol To do so select the SMLP settings tab 5 Set the parameters Follow the i...

Page 105: ...cast IP address IP address of the local network segment within which the unit scan is carried out In the default setting the unit scan only detects units that are in the local network segment IP address of SMLP server IP address of the SMLP server or of other units that are to be included in the unit scan but are outside the local network segment Enter the IP address of units that are to be includ...

Page 106: ...ced DHF41B DeviceNet and PROFIBUS DP V1 Fieldbus Interfaces 12 Communication via Ethernet Operating MOVITOOLS MotionStudio 2 To add an IP address open the context menu and select Add IP address 1 3 Add the IP address 2 64352AEN ...

Page 107: ...e equipped wtih additional hardware and software as described in the next section Function The C2 master 1 sends parameter requests from MOVITOOLS MotionStudio to the PROFIBUS interfaces in the units 3 via PROFIBUS acyclic C2 services In this case SIMATIC S7 2 does not perform any routing Advantage The C2 master works independently of the C1 master This means you can establish a communication with...

Page 108: ...by Siemens for the hardware and software products used 2 Install the PROFIBUS master card 3 Install the software TIP If you run and configure PROFIBUS stations in your network you need additional hard ware and software from Siemens Note the prerequisites regarding license rights for Siemens software products used Observe the documentation provided by Siemens for the hardware and software products ...

Page 109: ...e window opens 2 Set the access path of the application as shown in the figure TIP The following description might deviate slightly in part due to the language depending on the SIMATIC NET version and the operating system in use This concerns the display and designations in windows as well as designations in the menu path of the start menu 12098AEN TIP If you cannot set the access path because the...

Page 110: ...k on the Properties button This opens the Properties window 2 If a C1 master is active disable the PG PC is the only master on the bus check box 3 Assign the PC a free address that is not yet reserved by other stations masters or slaves 4 Set the baud rate transmission speed matching your PROFIBUS network If you operate a C1 master set the baud rate of the C1 master 5 Select DP as the profile or s...

Page 111: ...t PG PC interface window 2 Click the Diagnostics button This opens the SIMATIC NET diagnostics window 3 Check the parameters you have set To do so click on Test If your parameter setting is valid OK will be displayed 4 To have all bus stations displayed click on Read 5 Make sure that all bus stations were parameterized correctly 6 Open the MOVITOOLS MotionStudio engineering software 7 Set the comm...

Page 112: ...e been made in the project planning software 2 Start MOVITOOLS MotionStudio and create a project following the instructions described in the section First Steps 3 Click on Configure communication plugs 1 in the toolbar Doing so will open the Configure communication plugs window TIP The following steps describe only how you configure PROFIBUS communication in MOVITOOLS MotionStudio First make all t...

Page 113: ...ion via PROFIBUS DP DP V1 Operating MOVITOOLS MotionStudio 4 From the list 1 select PROFIBUS as the communication type In the example PROFIBUS is activated as the communication type for the first communication channel 2 64619AEN 1 Communication type selection list 2 Activated check box 3 Edit button ...

Page 114: ...start server button to start the PROFIBUS server Windows displays the activated PROFIBUS server using the following ICON in the status bar 12 6 5 Communication parameters for PROFIBUS DP DP V1 The following table describes the communication parameters for the PROFIBUS DP DP V1 communication channel 12095AEN Communication parameters Description Note PROFIBUS server Select the Start automatically co...

Page 115: ...rs proceed as follows 1 Switch to the required view project view or network view 2 Select the communication mode Click the Switch to online mode button 1 if you want to read or change parameters directly on the unit Click the Switch to offline mode button 2 if you want to read or change parameters in the project 3 Select the unit you want to set parameters for 4 Open the context menu and select th...

Page 116: ... 1 Switch to the network view 2 Click the Switch to online mode button 1 3 Select the unit you want to startup 4 Open the context menu and select the command Diagnostics UFx Gateway Configurator The Gateway Configurator opens 64354AXX TIPS For detailed information about the unit parameters refer to parameter list for the unit For detailed information about how to use the startup wizard refer to th...

Page 117: ...igured in the PROFIBUS DP master or was configured incorrectly Check whether the configured PROFIBUS address is the same as the address set on the DIP switches PROFIBUS addresses identical No D Yes You might have configured an incorrect unit type or defined the configuration incorrectly Delete the configuration for MOVI PLC advanced DHF41B from the DP network Configure MOVI PLC advanced DHF41B aga...

Page 118: ...level units via DeviceNet 64776AXX 1 PLC with DeviceNet scanner master 2 DeviceNet interface 4 SEW inverter with SBus interface 5 Index and parameter list of the unit X30P S2 X38 X35 X37 XM UFF41B DHF41B SPS DeviceNet Subaddress1 EtherCAT Subaddress1 SBUS Address Subaddress1 SBUS Address Subchannel1 0 Subaddress1 0 1 2 5 Subchannel1 2 4 3 X32 X33 X32 X33 X36 SBUS CAN1 4 5 CAN2 X30D EtherCAT ...

Page 119: ... or parameter services via PROFIBUS 1 SPS with PROFIBUS DP V1 master 2 PROFIBUS interface 4 SEW inverter with SBus interface 5 Index and parameter list of the unit S2 X38 X35 X37 XM DHF41B SPS PROFIBUS EtherCAT SBUS Address SBUS Address 1 2 5 X32 X33 X32 X33 X36 SBUS CAN1 4 5 CAN2 CAN1 X30D S2 X30P EtherCAT Axis 16 27 Axis 1 12 Axis 44 75 PLC Editor Routing Table default Routing enabled Slot Local...

Page 120: ...B SBUS CAN2 SBUS CAN1 Subaddress1 EtherCAT Subaddress1 SBUS Address Subaddress1 SBUS Address EtherCAT Subchannel1 0 Subaddress1 0 5 Subchannel1 3 4 2 X30P S2 X38 XM X30D X32 X33 Ethernet TCP IP SMLP Drive Operator Panel DOP 1 UFF41B DHF41B Ethernet X37 USB X35 3 4 5 X37 X36 X35 2 1 Engineering PC 2 PROFIBUS interface for engineering 3 USB Ethernet engineering interface 4 SEW inverter with SBus int...

Page 121: ... files for the DHF41B option 16 Configuration and startup on the PROFIBUS DP V1 fieldbus 53 Configuration examples in RSLogix 5000 Access to unit parameters of lower level units 30 Configuration with STEP7 54 Configuring a PROFIBUS DP master 53 Configuration with STEP7 54 DP configurations 57 General procedure 53 GSD file 53 Installing the GSD file in STEP7 54 Configuring and startup on the Device...

Page 122: ...d parameter 67 Write parameter 68 PROFIBUS DP 117 Project planning and startup on the DeviceNet fieldbus 16 Project planning examples in RSLogix5000 21 R Return codes for parameter setting Additional code 71 Elements 70 Error class 70 Error code 70 Return codes from DeviceNet 43 SEW specific return codes 43 Timeout of explicit messages 43 Return codes for parameter setting via explicit messages 43...

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Page 124: ...t reduces the cost and complexity of daily operations With a global presence that offers responsive and reliable solutions Anywhere With innovative technology that solves tomorrow s problems today With online information and software updates via the Internet available around the clock Drive Technology Drive Automation System Integration Services SEW EURODRIVE Driving the world www sew eurodrive co...

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